Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 401 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleNorthPole/SampleNorthPoleDynamics.cpp b/PhysX_3.4/Samples/SampleNorthPole/SampleNorthPoleDynamics.cpp
new file mode 100644
index 00000000..8cb7e798
--- /dev/null
+++ b/PhysX_3.4/Samples/SampleNorthPole/SampleNorthPoleDynamics.cpp
@@ -0,0 +1,401 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#include "PxPhysicsAPI.h"
+#include "extensions/PxExtensionsAPI.h"
+#include "PxTkStream.h"
+#include "SampleNorthPole.h"
+#include "RenderBaseActor.h"
+
+using namespace PxToolkit;
+
+//#define USE_RAYCAST_CCD_FOR_SNOWBALLS
+
+void SampleNorthPole::detach()
+{
+	std::vector<PxShape*>::const_iterator ite;
+	for(ite=mDetaching.begin(); ite<mDetaching.end(); ++ite)
+	{
+		PxSceneWriteLock scopedLock(*mScene);
+
+		PxShape* shape = *ite;
+		PxRigidActor* actor = shape->getActor();
+		
+		PxMaterial* mat;
+		shape->getMaterials(&mat,1);
+		PxGeometryHolder geometry = shape->getGeometry();
+		PxTransform newActorPose = PxShapeExt::getGlobalPose(*shape, *actor);
+
+		PxRigidDynamic* newActor = PxCreateDynamic(*mPhysics, newActorPose, geometry.any(), *mat, 1);
+		if(!newActor) 
+			fatalError("creating detached actor failed");
+		getActiveScene().addActor(*newActor);
+		mPhysicsActors.push_back(newActor);
+
+		// the only convex shape is the nose, so we can just test the type
+		if(geometry.getType() == PxGeometryType::eCONVEXMESH)
+		{
+			newActor->addForce(PxVec3(0,.1,0),PxForceMode::eFORCE);
+			size_t index = reinterpret_cast<size_t>(actor->userData);
+			mSnowman[index].changeMood();
+		}
+
+		// reuse the old shape's rendering actor
+		RenderBaseActor* render = getRenderActor(actor, shape);
+		PxShape* newShape;
+		newActor->getShapes(&newShape,1);
+		unlink(render, shape, actor);
+		link(render, newShape, newActor);
+		setCCDActive(*newShape, newActor);
+
+		actor->detachShape(*shape);
+	}
+	mDetaching.clear();
+}
+
+void SampleNorthPole::cookCarrotConvexMesh()
+{
+	static const PxVec3 carrotVerts[] = {PxVec3(0,0,.3),PxVec3(.05,0,0),PxVec3(-.05,0,0),PxVec3(0,.05,0),PxVec3(0,-.05,0)};
+
+	mCarrotConvex = PxToolkit::createConvexMesh(getPhysics(), getCooking(), carrotVerts, 5, PxConvexFlag::eCOMPUTE_CONVEX);
+	if(!mCarrotConvex)
+		fatalError("creating the convex mesh failed");
+}
+
+PxRigidDynamic* SampleNorthPole::throwBall()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	static unsigned int numBall = 0;
+
+	PxVec3 vel = getCamera().getViewDir() * 20.0f;
+
+	PxRigidDynamic* ballActor = getPhysics().createRigidDynamic(PxTransform(getCamera().getPos()+getCamera().getViewDir()));
+	if(!ballActor)
+		fatalError("creating ball actor failed");
+
+	ballActor->setLinearVelocity(vel);
+
+	PxShape* ballShape = PxRigidActorExt::createExclusiveShape(*ballActor, PxSphereGeometry(0.1f),getDefaultMaterial());
+	if(!ballShape)
+		fatalError("creating ball shape failed");
+
+	setSnowball(*ballShape);
+
+	PxRigidBodyExt::updateMassAndInertia(*ballActor,1);
+
+#ifndef USE_RAYCAST_CCD_FOR_SNOWBALLS
+	setCCDActive(*ballShape, ballActor);
+#endif
+	
+	getActiveScene().addActor(*ballActor);
+
+	RenderBaseActor* actor = mSnowBallsRenderActors[numBall];;
+	if(actor)
+	{
+		link(actor, ballShape, ballActor);
+	}
+	else
+	{
+		actor = createRenderObjectFromShape(ballActor, ballShape, mSnowMaterial);
+		mSnowBallsRenderActors[numBall] = actor;
+	}	
+
+#ifdef USE_RAYCAST_CCD_FOR_SNOWBALLS
+	if(ballShape)
+	{
+		RenderBaseActor* renderActor = getRenderActor(ballActor, ballShape);
+		renderActor->setRaycastCCD(true);
+	}
+#endif
+
+	PxRigidDynamic* oldBall = mSnowBalls[numBall];
+
+	if(oldBall) 
+	{
+		removeActor(oldBall);
+		oldBall->release();
+	}	
+
+	mSnowBalls[numBall] = ballActor;
+	if(! (++numBall < NUM_BALLS)) 
+		numBall=0;
+
+	return ballActor;
+}
+
+void SampleNorthPole::createSnowMen()
+{
+	PxU32 numSnowmen = NUM_SNOWMEN; // can't have NUM_SNOWMEN in the loop since setting to 0 causes compiler warnings
+	for(PxU32 i=0; i<numSnowmen; i++)
+	{	
+		PxVec3 pos(0,1,-8);
+		PxQuat rot(2*PxPi*i/numSnowmen,PxVec3(0,1,0));
+		createSnowMan(PxTransform(rot.rotate(pos),rot),i,i);
+	}
+
+}
+
+PxRigidDynamic* SampleNorthPole::createSnowMan(const PxTransform& pos, const PxU32 mode, const PxU32 index)
+{
+	PxRigidDynamic* snowmanActor = getPhysics().createRigidDynamic(PxTransform(pos));
+	if(!snowmanActor)
+		fatalError("create snowman actor failed");
+
+	PxMaterial&	material = getDefaultMaterial();
+	PxShape* armL = NULL; PxShape* armR = NULL;
+
+	switch(mode%5)
+	{
+	case 0: // with a weight at the bottom
+		{
+			PxShape* shape = NULL;
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.2),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,-.29,0)));
+			
+			PxRigidBodyExt::updateMassAndInertia(*snowmanActor,10);
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
+			
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
+			
+			armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armL)
+				fatalError("creating snowman shape failed");
+			armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
+
+			armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armR)
+				fatalError("creating snowman shape failed");			
+			armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
+		}
+		break;
+	case 1: // only considering lowest shape mass
+		{
+			PxShape* shape = NULL;
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			
+			PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
+
+			armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armL)
+				fatalError("creating snowman shape failed");
+			armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
+
+			armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armR)
+				fatalError("creating snowman shape failed");			
+			armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
+
+			snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
+		}
+		break;
+	case 2: // considering whole mass
+		{
+			PxShape* shape = NULL;
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
+			
+			armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armL)
+				fatalError("creating snowman shape failed");
+			armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
+
+			armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armR)
+				fatalError("creating snowman shape failed");			
+			armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
+
+			PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
+			snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
+		}
+		break;
+	case 3: // considering whole mass with low COM
+		{
+			PxShape* shape = NULL;
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
+
+			armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armL)
+				fatalError("creating snowman shape failed");
+			armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
+
+			armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armR)
+				fatalError("creating snowman shape failed");			
+			armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
+
+			const PxVec3 localPos = PxVec3(0,-.5,0);
+			PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1,&localPos);
+		}
+		break;
+	case 4: // setting up mass properties manually
+		{
+			PxShape* shape = NULL;
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
+
+			shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
+			if(!shape)
+				fatalError("creating snowman shape failed");
+			shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
+
+			armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armL)
+				fatalError("creating snowman shape failed");
+			armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
+
+			armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
+			if(!armR)
+				fatalError("creating snowman shape failed");			
+			armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
+
+			snowmanActor->setMass(1);
+			snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
+			snowmanActor->setMassSpaceInertiaTensor(PxVec3(.05,100,100));
+		}
+		break;
+	default:
+		break;
+	}
+	
+	setDetachable(*armL);
+	setDetachable(*armR);
+
+	createRenderObjectsFromActor(snowmanActor,mSnowMaterial);
+
+	PxShape* carrot = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxConvexMeshGeometry(mCarrotConvex),material);
+	if(!carrot)
+		fatalError("create snowman shape failed");
+	carrot->setLocalPose(PxTransform(PxVec3(0,1.1,.3)));
+	setDetachable(*carrot);
+
+	createRenderObjectFromShape(snowmanActor, carrot, mCarrotMaterial);
+
+	PxShape* button = NULL;
+	
+	button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.02,.05),material);
+	if(!button)
+		fatalError("create snowman shape failed");
+	button->setLocalPose(PxTransform(PxVec3(.1,1.2,.3),PxQuat(PxHalfPi/3,PxVec3(0,0,1))));
+	button->setFlag(PxShapeFlag::eSIMULATION_SHAPE,false);
+	mSnowman[index].eyeL = button;
+	createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
+
+	button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.02,.05),material);
+	if(!button)
+		fatalError("create snowman shape failed");
+	button->setLocalPose(PxTransform(PxVec3(-.1,1.2,.3),PxQuat(-PxHalfPi/3,PxVec3(0,0,1))));
+	button->setFlag(PxShapeFlag::eSIMULATION_SHAPE,false);
+	mSnowman[index].eyeR = button;
+	createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
+
+	button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
+	if(!button)
+		fatalError("create snowman shape failed");
+	button->setLocalPose(PxTransform(PxVec3(0,.8,.35)));
+	setDetachable(*button);
+	createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
+
+	button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
+	if(!button)
+		fatalError("create snowman shape failed");
+	button->setLocalPose(PxTransform(PxVec3(0,.6,.4)));
+	setDetachable(*button);
+	createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
+	
+	button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
+	if(!button)
+		fatalError("create snowman shape failed");
+	button->setLocalPose(PxTransform(PxVec3(0,.4,.35)));
+	setDetachable(*button);
+	createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
+
+	getActiveScene().addActor(*snowmanActor);
+
+	snowmanActor->userData = (void*)size_t(index);
+
+	mPhysicsActors.push_back(snowmanActor);
+
+	return snowmanActor;
+}